DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Seung Hun | - |
dc.contributor.author | Lee, Sang Jun | - |
dc.contributor.author | Kim, Sang Woo | - |
dc.date.accessioned | 2019-03-07T01:19:30Z | - |
dc.date.available | 2019-03-07T01:19:30Z | - |
dc.date.created | 2018-03-19 | - |
dc.date.issued | 2018-03 | - |
dc.identifier.issn | 1530-437X | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/94996 | - |
dc.description.abstract | A new laser vision system is proposed for the navigation of mobile robots in pipe environments. This paper mainly focuses on forward recognition of individual T-junctions and elbow pipes to prevent the robots from becoming stuck in pipes. We propose to mount weaving 2-D laser scanners on robots to obtain selective 3-D front-pipe maps. Recognition of T-junctions requires 3-D maps for pipe wall on wheel sides, whereas recognition of elbow pipes requires full-forward 3-D maps. From these selective forward 3-D maps, algorithms for recognition of T-junctions and elbow pipes were developed, utilizing the mathematical approach to describe the pipeline structures. The practicality of the proposed algorithms was validated for several pipe environments, including T-junction, single elbow pipe, and the latter pipe of double elbow pipes. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.relation.isPartOf | IEEE SENSORS JOURNAL | - |
dc.title | Weaving Laser Vision System for Navigation of Mobile Robots in Pipeline Structures | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/JSEN.2018.2795043 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | IEEE SENSORS JOURNAL, v.18, no.6, pp.2585 - 2591 | - |
dc.identifier.wosid | 000425981100045 | - |
dc.citation.endPage | 2591 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 2585 | - |
dc.citation.title | IEEE SENSORS JOURNAL | - |
dc.citation.volume | 18 | - |
dc.contributor.affiliatedAuthor | Kim, Seung Hun | - |
dc.contributor.affiliatedAuthor | Lee, Sang Jun | - |
dc.contributor.affiliatedAuthor | Kim, Sang Woo | - |
dc.identifier.scopusid | 2-s2.0-85040946073 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.type.docType | Article | - |
dc.subject.keywordPlus | ALGORITHMS | - |
dc.subject.keywordPlus | INSPECTION | - |
dc.subject.keywordPlus | SENSOR | - |
dc.subject.keywordPlus | NDE | - |
dc.subject.keywordAuthor | Two-dimensional laser scanner | - |
dc.subject.keywordAuthor | LiDAR | - |
dc.subject.keywordAuthor | LADAR | - |
dc.subject.keywordAuthor | pipe inspection | - |
dc.subject.keywordAuthor | nondestructive testing | - |
dc.subject.keywordAuthor | autonomous robotics | - |
dc.subject.keywordAuthor | T-junction | - |
dc.subject.keywordAuthor | elbow pipe | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Physics, Applied | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalResearchArea | Physics | - |
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